\normalsize
\appendix
\section{Experimental Results of MinCost SAT Solvers}
\label{appendix:cost-time}

Here we present the detailed results, in terms of both total action
cost and problem solving time. Under the SAT based framework for
CSTE planning, we compare several MinCost SAT solvers, including
MiniSAT (no-opt), base BB-DPLL algorithm (base), BB-DPLL using the
lower bounding function (+h), BB-DPLL using the new branching
heuristic (+heu) and BB-DPLL with both techniques (all). The
makespans of the solutions are not listed because all these settings
find solutions with the minimum makespans.

\input{./figure/tb-p2p}
\input{./figure/tb-driverlog}
\input{./figure/tb-matchlift}
\input{./figure/tb-matchliftv}
